a_star.cpp File Reference

#include <math.h>
#include <vector>
#include <set>
#include "mex.h"
#include "time.h"

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Classes
struct	state_t
class	stateComparison
Defines
#define	max(a, b)   (a>=b ? a : b)
#define	min(a, b)   (a<=b ? a : b)
#define	TIME_DEBUG   1
Functions
double	getH (int x, int y)
void	getPreds (state_t *state, vector< state_t * > &preds, vector< double > &costs, double *map, int mapY, int mapX)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	runAStar (double *map, int mapY, int mapX, double *start, double *goal, vector< double > &pathX, vector< double > &pathY)
Variables
int	startX
int	startY
vector< state_t >	states
double	transC [8] = {sqrt(2),1,sqrt(2),1,1,sqrt(2),1,sqrt(2)}
int	transX [8] = {-1,0,1,-1,1,-1,0,1}
int	transY [8] = {-1,-1,-1,0,0,1,1,1}

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Define Documentation

#define max	(	a,
		b		)	(a>=b ? a : b)

Definition at line 9 of file a_star.cpp.

#define min	(	a,
		b		)	(a<=b ? a : b)

Definition at line 10 of file a_star.cpp.

#define TIME_DEBUG   1

Definition at line 12 of file a_star.cpp.

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Function Documentation

double getH	(	int	x,
		int	y
	)

Definition at line 48 of file a_star.cpp.

void getPreds	(	state_t *	state,
		vector< state_t * > &	preds,
		vector< double > &	costs,
		double *	map,
		int	mapY,
		int	mapX
	)

Definition at line 52 of file a_star.cpp.

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Definition at line 199 of file a_star.cpp.

void runAStar	(	double *	map,
		int	mapY,
		int	mapX,
		double *	start,
		double *	goal,
		vector< double > &	pathX,
		vector< double > &	pathY
	)

Definition at line 74 of file a_star.cpp.

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Variable Documentation

int startX

Definition at line 24 of file a_star.cpp.

int startY

Definition at line 25 of file a_star.cpp.

vector<state_t> states

Definition at line 22 of file a_star.cpp.

double transC[8] = {sqrt(2),1,sqrt(2),1,1,sqrt(2),1,sqrt(2)}

Definition at line 29 of file a_star.cpp.

int transX[8] = {-1,0,1,-1,1,-1,0,1}

Definition at line 28 of file a_star.cpp.

int transY[8] = {-1,-1,-1,0,0,1,1,1}

Definition at line 27 of file a_star.cpp.